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<div class="title">render_views_tesselated_sphere.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * render_views_tesselated_sphere.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Dec 23, 2011</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef RENDER_VIEWS_TESSELATED_SPHERE_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define RENDER_VIEWS_TESSELATED_SPHERE_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;vtkSmartPointer.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;vtkPolyData.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;boost/function.hpp&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">namespace </span>apps</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  {</div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_render_views_tesselated_sphere.html">   27</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1apps_1_1_render_views_tesselated_sphere.html">RenderViewsTesselatedSphere</a></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    {</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; poses_;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      std::vector&lt;pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr&gt; generated_views_;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      std::vector&lt;float&gt; entropies_;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keywordtype">int</span> resolution_;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      <span class="keywordtype">int</span> tesselation_level_;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <span class="keywordtype">bool</span> use_vertices_;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      <span class="keywordtype">float</span> view_angle_;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keywordtype">float</span> radius_sphere_;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keywordtype">bool</span> compute_entropy_;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata_;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keywordtype">bool</span> gen_organized_;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      boost::function&lt;bool</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      (<span class="keyword">const</span> Eigen::Vector3f &amp;)&gt; campos_constraints_func_;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structpcl_1_1apps_1_1_render_views_tesselated_sphere_1_1cam_pos_constraints_all_true.html">   44</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1apps_1_1_render_views_tesselated_sphere_1_1cam_pos_constraints_all_true.html">camPosConstraintsAllTrue</a></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      {</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        operator() (<span class="keyword">const</span> Eigen::Vector3f &amp; <span class="comment">/*pos*/</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        ;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      };</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <a class="code" href="classpcl_1_1apps_1_1_render_views_tesselated_sphere.html">RenderViewsTesselatedSphere</a> ()</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        resolution_ = 150;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        tesselation_level_ = 1;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        use_vertices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        view_angle_ = 57;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        radius_sphere_ = 1.f;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        compute_entropy_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        gen_organized_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        campos_constraints_func_ = <a class="code" href="structpcl_1_1apps_1_1_render_views_tesselated_sphere_1_1cam_pos_constraints_all_true.html">camPosConstraintsAllTrue</a> ();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      setCamPosConstraints (boost::function&lt;<span class="keywordtype">bool</span> (<span class="keyword">const</span> Eigen::Vector3f &amp;)&gt; &amp; bb)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        campos_constraints_func_ = bb;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="comment">/* \brief Indicates wether to generate organized or unorganized data</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment">       * \param b organized/unorganized</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      setGenOrganized (<span class="keywordtype">bool</span> b)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        gen_organized_ = b;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="comment">/* \brief Sets the size of the render window</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">       * \param res resolution size</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      setResolution (<span class="keywordtype">int</span> res)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        resolution_ = res;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="comment">/* \brief Wether to use the vertices or triangle centers of the tesselated sphere</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">       * \param use true indicates to use vertices, false triangle centers</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      setUseVertices (<span class="keywordtype">bool</span> use)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        use_vertices_ = use;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="comment">/* \brief Radius of the sphere where the virtual camera will be placed</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">       * \param use true indicates to use vertices, false triangle centers</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      setRadiusSphere (<span class="keywordtype">float</span> radius)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        radius_sphere_ = radius;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="comment">/* \brief Wether to compute the entropies (level of occlusions for each view)</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">       * \param compute true to compute entropies, false otherwise</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      setComputeEntropies (<span class="keywordtype">bool</span> compute)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        compute_entropy_ = compute;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="comment">/* \brief How many times the icosahedron should be tesselated. Results in more or less camera positions and generated views.</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">       * \param level amount of tesselation</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      setTesselationLevel (<span class="keywordtype">int</span> level)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        tesselation_level_ = level;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="comment">/* \brief Sets the view angle of the virtual camera</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">       * \param angle view angle in degrees</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      setViewAngle (<span class="keywordtype">float</span> angle)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        view_angle_ = angle;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="comment">/* \brief adds the mesh to be used as a vtkPolyData</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">       * \param polydata vtkPolyData object</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      addModelFromPolyData (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> &amp;polydata)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        polydata_ = polydata;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="comment">/* \brief performs the rendering and stores the generated information</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      generateViews ();</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="comment">/* \brief Get the generated poses for the generated views</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">       * \param poses 4x4 matrices representing the pose of the cloud relative to the model coordinate system</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      getPoses (std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp; poses)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        poses = poses_;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="comment">/* \brief Get the generated views</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">       * \param views generated pointclouds in camera coordinates</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      getViews (std::vector&lt;pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr&gt; &amp; views)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        views = generated_views_;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="comment">/* \brief Get the entropies (level of occlusions) for the views</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">       * \param entropies level of occlusions</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      getEntropies (std::vector&lt;float&gt; &amp; entropies)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        entropies = entropies_;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    };</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;}</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* RENDER_VIEWS_TESSELATED_SPHERE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_render_views_tesselated_sphere_html"><div class="ttname"><a href="classpcl_1_1apps_1_1_render_views_tesselated_sphere.html">pcl::apps::RenderViewsTesselatedSphere</a></div><div class="ttdoc">Class to render synthetic views of a 3D mesh using a tesselated sphere NOTE: This class should replac...</div><div class="ttdef"><b>Definition:</b> render_views_tesselated_sphere.h:28</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer&lt; vtkPolyData &gt;</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1apps_1_1_render_views_tesselated_sphere_1_1cam_pos_constraints_all_true_html"><div class="ttname"><a href="structpcl_1_1apps_1_1_render_views_tesselated_sphere_1_1cam_pos_constraints_all_true.html">pcl::apps::RenderViewsTesselatedSphere::camPosConstraintsAllTrue</a></div><div class="ttdef"><b>Definition:</b> render_views_tesselated_sphere.h:45</div></div>
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